System comprising construction machine, transport vehicle with loading space and image-recording device, and method for displaying an image stream during the loading or unloading of a transport vehicle

ABSTRACT

In a system comprising construction machine, transport vehicle with loading space and image recording device, wherein the image recording device is arranged at the construction machine and aligned, as a minimum, also towards the loading space of the transport vehicle, it is specified for the following features to be achieved: that a reception and display device is arranged at or in the transport vehicle, wherein the data recorded by the image recording device are transmitted to the reception and display device via a transmission device arranged at the construction machine.

BACKGROUND OF THE DISCLOSURE Field of the Disclosure

The invention relates to a system comprising construction machine,transport vehicle with loading space and image-recording device.Furthermore, the invention relates to a method for displaying an imagestream during the loading or unloading of a transport vehicle.

Description of the Prior Art

Transport vehicles are filled by means of a multitude of differentloading methods. Bulk material is loaded onto transport vehicles, forexample, by means of a belt conveyor. This loading procedure is inwidespread use especially with construction machines, the primaryfunction of which does not consist in loading transport vehicles.

A uniform distribution of bulk material on the loading space is aimed atbut frequently not achieved, since this depends on correct communicationbetween the driver of the transport vehicle and the operator of theconstruction machine. The operator of the construction machine needs tomuster a high level of concentration for the primary operation of themachine and additionally give the driver of the transport vehicle asuitable signal to move his vehicle. Such signals may be transmitted inaudible or visual form.

The construction machine may, for example, be a forward-loading millingmachine which discharges the milling material towards the front onto thetransport vehicle driving ahead. In the process, the speed of thetransport vehicle is generally higher than that of the road millingmachine. The point of discharge above the loading surface of thetransport vehicle therefore travels from the front towards the rear.This can be observed by the machine operator of the road millingmachine. When the point of discharge is at the rear end of the loadingsurface, the machine operator of the road milling machine operates thehorn in order to request the vehicle driver of the transport vehicle tostop the transport vehicle. Since the road milling machine keepsdriving, the point of discharge travels to the front end of the loadingsurface. When the point of discharge has reached the front end of theloading surface, the machine operator of the road milling machineoperates the horn again in order to request the vehicle driver of thetransport vehicle to start driving. In this way, the transport vehiclemoves forward intermittently, whereas the construction machine movesforward continuously.

The request to start driving and stop the transport vehicle by means ofhorn alerts may pose a problem in certain situations. A problem mayarise in the situation in which the vehicle driver of the transportvehicle fails to hear the horn alert, or if another vehicle driving pastemits a horn alert so that the vehicle driver of the transport vehicleerroneously believes to be required to move his vehicle forward. If thevehicle driver fails to hear the horn alert, this may cause a collisionof the construction machine with the transport vehicle, or the operatorof the milling machine may need to stop the continuous millingoperation.

On the other hand, the construction machine operator cannot accuratelyestimate the weight of the bulk material possible for a specifictransport vehicle, since the transport vehicles have different sizes,and therefore the weight of the bulk material can be estimated onlyinaccurately. An excessively high load affects traffic safety, however,and an excessively low load is economically disadvantageous. Ultimately,care must also always be taken that no collisions occur during amovement of the transport vehicle and/or construction machine.

Bulk material is also transported to the construction sites by means oftransport vehicles, where said bulk material is then used. In order toguarantee efficient material transport, the bulk material is frequentlyunloaded from the transport vehicle directly into the constructionmachine. The construction machines then convey said material for directpaving or for filling other construction machines by means of a beltconveyor. This is in widespread use among construction machines, theprimary function of which consists in using the material inconstruction.

In the process, complete unloading of the bulk material from the loadingspace of the transport vehicle is frequently not achieved, however,since unloading of the bulk material also depends on correctcommunication between the driver of the transport vehicle and theoperator of the construction machine. In addition, the driver of thetransport vehicle cannot accurately estimate the progress of theunloading process, since the loading space is tilted during unloading,and the driver of the transport vehicle thus has no insight into theloading space.

Especially for unloading, the driver of the transport vehicle isfrequently forced to precisely approach the construction machine anddock there before the dumper vehicle is emptied. In the process,collisions easily occur between the dumper vehicle and the constructionmachine.

In a construction machine which is a road paver, the road paver isloaded with material while the road paver is moving slowly forward. Thetransport vehicle approaches the road paver slowly in reverse traveluntil contact has been made between the road paver and the transportvehicle. The transport vehicle is thereafter pushed by the road paverahead of the road paver, and emptying takes place.

The process is particularly complicated if the transport vehicle is inmotion during the docking phase and a severe collision between theconstruction machine and the transport vehicle has to be avoided. Thisleads to oftentimes hectic communication between the driver of thetransport vehicle and the operator of the construction machine duringthe docking process prior to emptying or filling the transport vehicle.

SUMMARY OF THE PRESENT DISCLOSURE

It is therefore the object of the invention to provide a system and amethod by means of which the coordination between the transport vehicleand the construction machine is improved.

Said object is achieved by a system offering the features of patentclaim 1, and by a method offering the features of patent claim 21.Advantageous further developments are the subject matter of thedependent claims.

The invention advantageously specifies for an image-recording device tobe arranged at the construction machine and to be aligned, as a minimum,towards the loading space of the transport vehicle, where a receptionand display device is arranged at or in the transport vehicle, where thedata recorded by the image-recording device are transmitted to thereception and display device by means of a transmission device arrangedat the construction machine.

The transport vehicle may be a dumper vehicle or a truck with a loadingsurface or loading space, respectively.

Arranging the image-recording device at the construction machine has theadvantage that, with many alternating transport vehicles for thedelivery and collection of material, a single image-recording deviceonly is required at the construction machine, and not oneimage-recording device each is required for each transport vehicle. Whenpositioning the transport vehicle relative to the construction machine,it is inevitably ensured that the image-recording device is optimallyaligned towards the loading space of the transport vehicle. Although thevehicle driver of the transport vehicle, in particular, requires optimalimages for moving the transport vehicle, according to the invention, theimage-recording device is not arranged at the transport vehicle but atthe construction machine.

The data may be transmitted to the vehicle driver of the transportvehicle wirelessly such as, for example, via the Internet, WLAN,Bluetooth or similar devices. In this context, transmission media forshorter distances are also sufficient, since the vehicle driver of thetransport vehicle requires information from the image-recording deviceat the construction machine only when he has moved his transport vehicleclose to the construction machine.

The same reception and display device in the environment of the driverof the transport vehicle may therefore communicate with differentimage-recording devices arranged at different construction machines. Adefined format allows for images of that particular construction machineto be made available to the driver of the transport vehicle, in theenvironment of which the driver of the transport vehicle is located. Thedriver of the transport vehicle therefore requires only a reception anddisplay device, whilst the construction machine requires animage-recording device and a transmission device.

The data recorded may be image data. The data may be transmittedencrypted or unencrypted. In addition, the scope of the data to betransmitted may be adapted to the quality of the connection.

An advantageous embodiment variant specifies for the constructionmachine to comprise a conveying device and for the image-recordingdevice to also be aligned towards the conveying device. This makes itpossible to simultaneously monitor the loading space of the transportvehicle and the conveying device. Whilst it is a matter of uniformloading in the case of the loading surface, the focus of monitoring theconveying device is on avoiding a collision between the conveying deviceand the transport vehicle.

According to a special embodiment of the invention, the user can view,on a split image of the monitoring screen, the loading space in thedirection of travel of the transport vehicle in a first image and theconveying device of the construction machine in a separate second image.In said separate second image, the user can view the possible points ofcollision in order to avoid a collision between the transport vehicleand the conveying device or loading device, respectively.

To ensure a good overview with the image-recording device, it isproposed that the image-recording device is arranged at the conveyingdevice. This allows a relatively high position on the one hand, and aposition close to the transport vehicle during loading and unloading onthe other. In addition, the advantage results that the image-recordingdevice can be pivoted together with the belt conveyor. When the beltconveyor needs to be pivoted in the direction of the loading surface(for example, because the transport vehicle and the construction machinemust drive at an offset to one another due to conditions on theconstruction site), the image-recording device nevertheless remainsaligned towards the transport vehicle and especially towards the loadingspace to be loaded.

The image-recording device may be mounted to pivot about a cross beam tothe direction of operation of a belt conveyor of the conveying deviceabove the centre of gravity of the conveying device. In thisarrangement, it may be ensured by means of a drive or a weight that thealignment of the image-recording device relative to the plane of theground remains unchanged even in the case of an adjustment of the angleof the belt conveyor.

Such a suspended pivotable mounting also results in a protection of theimage-recording device which can thus yield in the case of a collisionin that it is pivoted about the point of support. Alternatively, aprotection can also be achieved in that the image-recording device isresiliently mounted at the construction machine and especially at aconveying device of the construction machine in order to be pivotable inthe case of a collision and return to its original position thereafter.

The system described thus makes it easier for the driver of thetransport vehicle and/or the construction machine to maintain anoverview of the loading procedure in order to be able to effectivelycontrol the loading process by placing the transport vehicle preciselyat the point where the load is loaded onto a specific point of theloading space of the transport vehicle. Mounting the image-recordingdevice at the construction machine has the advantage that the point ofdischarge remains constant in its relation to the monitoring image, andpositioning of the transport vehicle is facilitated as a result. A highposition in the arrangement of the image-recording device at theconstruction machine has the advantage that the monitoring image canshow a complete overview.

With a view in particular to unloading a dumper vehicle, a system isproposed in which the construction machine comprises a receptacle andthe image-recording device is also aligned towards the receptacle. Thismakes it possible to display a split monitoring image on the screen ofthe user, that is, the loading space in the direction of travel of thetransport vehicle in one image, and the reception device of theconstruction machine, that is, the receptacle in a separate image. Theimage of the receptacle may show the user possible points of collisionbetween the receptacle and transport vehicle. Recording the loadingspace and the receptacle makes it possible for the user to maintain anoverview of the unloading procedure in order to control it safely andeffectively. In particular, the vehicle driver of the transport vehiclecan position the transport vehicle at the point where the load can besafely unloaded into the receptacle after the docking procedure.

Depending on the embodiment of the construction machine, it isadvantageous for the image-recording device to be arranged at an as highlevel as possible. It is therefore proposed that the image-recordingdevice is arranged in the uppermost third of the construction machine.

The image-recording device may comprise one or multiple cameras forrecording single images. According to the invention, the cameras may bedifferent in design and, for example, detect different wavelength rangesand/or feature different recording technologies. Customary opticalcameras which detect the visible range of the light, for example, orinfrared cameras may be used. Alternatively, detection devices such asPMD cameras may be used, for example, which can additionally providedistance information via travel-time measurement. If multiple camerasare used, different recording procedures may be used or differentwavelength ranges detected simultaneously. It is thus possible, forexample, to use an infrared camera and a camera for wavelength rangescorresponding to visible light, or an optical camera with a CCD sensorand a camera with PMD sensor.

It is particularly advantageous if the image-recording device comprisesat least one camera for recording an image stream. Such an image streamcontinuously shows any change in the positions of the transport vehicleand construction machine, and the change on the loading space duringloading and unloading of the dumper vehicle.

A video camera with a wide-angle lens and/or an infrared camera and/or astereoscopic camera and/or a PMD camera is particularly suitable forthis purpose.

A wide-angle lens permits alignment towards the loading space and theconveying device or a receptacle. Alternatively, two cameras may also bespecified for this purpose, which are aligned accordingly. It istherefore proposed that the image-recording device comprises two camerasor one camera with two viewing angles for the creation of two subsetimage streams.

Distance information may additionally be detected by means of astereoscopic camera and/or a PMD camera.

Especially in the case of a wide-angle lens, the two subset imagestreams may also be calculated from an original image stream.

Additional illumination may be provided in the observation range of thecamera in order to improve the recording quality. At least oneilluminant and/or at least one mirror may be specified, where theilluminant is preferably arranged at or next to the camera, and themirror is preferably placed in the field of view of the camera in such afashion that the observable area can be enlarged.

The camera may be arranged at an unmanned aerial vehicle.

The image-recording device may additionally detect a registration plate,for example, the vehicle registration plate of the transport vehicle.The registration plate may also be transmitted to the reception anddisplay device by means of the transmission device.

In addition to the data recorded by the image-recording device, thetransmission device may transmit further data to the reception anddisplay device.

Said further data may be other machine information, in particular, datarelating to the milling material and/or data determined from the imageinformation by means of an evaluation unit and/or messages from thedriver of the construction machine to the driver of the transportvehicle, preferably start or stop signals specified by the driver of theconstruction machine for the driver of the transport vehicle.

Milling material is the material which is removed with a millingmachine. The data relating to the milling material may be data relatingto the material properties of the milling material, in particular thematerial of the milling material, and/or location data of the milledsection of the ground pavement.

Regarding the data relating to material properties of the millingmaterial, these may directly describe the material properties of thematerial, or may be data which enable conclusions to be drawn about thematerial. For the purposes of the invention, the location data of themilled section of the ground pavement may therefore also be datarelating to the material properties of the milling material. It may bedetermined, for example, which motorway section is being milled. It maybe known which material has been used in the construction of themotorway section so that it can be determined based on the motorwaysection which material has been used in its construction.

It may be known, for example, which asphalt has been used in theconstruction, or the composition of the material used in theconstruction may be known. It may also be known which material has beenused in the construction of different layers of the ground pavement. Asa rule, the ground pavement comprises a surface layer, a binder layerand a base layer. The known information regarding the material may bestored in a data base (for example, locally on the milling machine oroutside of the milling machine), or said information may be entered byan operator of the milling machine. The location data may also bedetermined based on GPS coordinates.

Samples of the milled-off material may also be taken, for example, andevaluated immediately or at a later date. For the purposes of theinvention, the data relating to the material properties of the millingmaterial may also be data signals which relate to the number or the nameof such sample.

The data relating to the milling material may be operating parameters ofthe milling machine, or data or data signals, respectively, which aredetermined by means of the operating parameters, location data orinformation entered. As a result, both the directly determined orentered data or data signals, respectively, as well as data derivedtherefrom, may be detected as data relating to the milling material.

Operating parameters may specifically be the milling depth, the millingvolume removed, the advance speed, the milling drum speed of revolution,the relation between advance speed and milling drum speed of revolution,the milling drum used, the torque/output emitted by the drive engine ofthe milling machine, or the amount of water fed during the millingprocess to cool the milling tools. Furthermore, it may be detected as towhether the milling machine is operating in down-milling or inup-milling mode (milling drum rotating in the same direction/in theopposite direction as the ground-engaging units). The data relating tothe milling material may also be the mass and/or volume of the millingmaterial loaded onto the transport vehicle.

If, for example, the mass of the milling material loaded onto thetransport vehicle is detected and transmitted to the machine operatorand/or the driver of the transport vehicle, efficient loading of thetransport vehicle can be effected without over- or underloading.

Data can be determined by means of said operating parameters. These canbe material properties of the milling material such as, for example, thegrain size distribution in the milling material, fine fractions/coarsefractions. The physical properties can be derived from, for example, therelation between the advance rate and the milling drum speed ofrevolution, or the milling drum used.

Furthermore, it can be determined from the operating parameters, forexample, from the milling depth, which layer of the ground pavement hasbeen milled. The ground pavement comprises, for example, a surfacelayer, a binder layer and a base layer which, as a rule, featuredifferent layer thicknesses. In addition to the milling depth, locationdata detected by the milling machine may also be taken into account, forexample, to determine if milling has already been performed in aspecific position. This information can be correlated to allow for moreaccurate conclusions to be drawn about the layer just milled.

The reception and display device may comprise a second transmissiondevice, and a second reception device may be arranged at theconstruction machine so that messages can be sent from the driver of thetransport vehicle to the driver of the construction machine via thesecond transmission device. It is therefore possible for messages to beexchanged between the driver of the transport vehicle and the operatorof the construction machine.

The second transmission device and the reception and display device maybe designed as a unit.

The second reception device and the transmission device of theconstruction machine may also be designed as a unit.

The system may comprise an evaluation unit. The evaluation unit maycomprise an image-analysing programme which determines additional datafrom the image information.

The evaluation unit may determine the filling level in the loading spaceand/or the distance between the construction machine and the transportvehicle and/or the point of impingement of material in the loading spaceby evaluating the data of the image-recording device.

An imminent collision of the construction machine and the transportvehicle can be determined by means of the distance between theconstruction machine and the transport vehicle.

The point of impingement of the material may be the actual point ofimpingement of the material in the loading space and also, in the caseof the conveying device being switched off, the potential point ofimpingement in the loading space when the belt conveyor is driven again.To determine the potential point of impingement, further parameters suchas, for example, the inclination of the belt conveyor may be included.

It may be determined based on the actual point of impingement of thematerial in the loading space if the material is still discharged withinthe loading space and if the point of impingement is in the peripheralarea of the loading space and the transport vehicle therefore needs tomove again promptly in relation to the construction machine.

The further data which are transmitted by the transmission device to thereception and display device in addition to the data recorded by theimage-recording device may be data determined by the evaluation unit, inparticular, start or stop signals for the driver of the transportvehicle and/or the mass of the milling material loaded and/or acollision warning.

The evaluation unit may determine, as a function of the point ofimpingement of the material in the loading space and/or as a function ofthe distance between the construction machine and transport vehicle, astart or stop signal which is transmitted to the reception and displaydevice via the transmission device.

In addition, the evaluation unit may also alter the contrast or thebrightness of the image stream recorded with the image-recording deviceor highlight, in the image stream, for example, edges visible in theimage (for example, the loading edges of the loading surface and/or theouter boundary of the conveying device). As a result of this, the visualevaluation of the image stream transmitted is made easier for the driverof the transport vehicle.

The image-analysing programme may, for example, show subset imagestreams on different screens or on different screen sections, and it mayassign, in the image streams, structures to the construction machine,the transport vehicle or the loading space in order to call attention tocollisions at an early stage.

In order to provide the system with different types of information, itis proposed that the image-recording device comprises at least onecamera which is mounted to pivot in a controllable fashion. The controlfeature makes it possible to cover a large viewing angle. However, theat least one camera may, for example, also be positioned or aligned asafunction of the position and inclination of the conveying device inorder to, for example, in the case of a change in the inclination of theconveying device in the case of a camera mounted at the conveyingdevice, keep the same constantly aligned towards one point such as, forexample, the loading space of the transport vehicle.

To protect the camera, the same may be arranged behind metal brackets.In this arrangement, the metal brackets are arranged in such a fashionthat the viewing angle of the camera is impaired as little as possiblebut damage to the camera behind the metal brackets is prevented.Alternatively or cumulatively, the camera may be resiliently mounted inorder to be able to deflect in the event of a collision of the camerawith an object and to return to the original position thereafter.

A preferred embodiment variant specifies for the reception and displaydevice to be a portable computer, preferably a mobile telephone.

Said portable computer may record, process and display data from theimage-recording device using a wired or in particular wirelessconnection. It may also be arranged in proximity inside the driver'scabin of the transport vehicle in order to improve the cooperationbetween the transport vehicle and the construction machine.

The transport vehicle may furthermore be identifiable, for example, bymeans of a unique user identity (such as the vehicle registration plateof the transport vehicle). A scope of information adjusted to thecurrent task may be provided to the reception and display devicepertaining to the transport vehicle. An adjustment may thus be made asto whether and in what quality an image stream is made available, and/oras to whether and to what extent further data are transmitted.

A Personal Digital Assistant (PDA) is particularly suitable as aportable computer, the same being already known in different embodimentvariants in particular as a mobile telephone and preferably including,in addition to other programmes, calendar and address programmes. Thecomputers may comprise processors and/or computer-readable memoriesand/or data bases. The same may also comprise a user interface. Suchportable computers may be equipped with a special programme which isspecially programmed as an application for use with the systemcomprising construction machine, transport vehicle and image-recordingdevice. This feature enables the use of a known display device as ascreen and input unit for optimizing the control of the constructionmachine, transport vehicle and image-recording device.

A first storage device may be arranged at the construction machine,and/or the reception and display device may comprise a second storagedevice, where the data recorded by the image-recording device, and/orthe further data which are transmitted to the reception and displaydevice in addition to the data recorded by the image-recording device,are storable in the first and/or the second storage device.

The evaluation unit, the transmission device, the reception device andthe storage device may individually or also jointly likewise represent acomputer system. Such computer system may comprise one or multipleprocessors and/or one or multiple computer-readable memories and/or oneor multiple data bases. It may also comprise one or multiple userinterfaces.

Furthermore, a method according to the invention for displaying an imagestream during the loading or unloading of a transport vehicle comprisesthe following steps:

-   -   recording images with an image-recording device mounted at a        construction machine and aligned, as a minimum, towards the        loading space of the transport vehicle,    -   transmitting, receiving and displaying the data recorded with        the image-recording device on a reception and display device        arranged at or inside the transport vehicle.

The data recorded with the image-recording device may be an imagestream. The image-recording device may be a camera.

This method enables a person to perceive the loading and unloading of atransport vehicle on a reception and display device in such a fashionthat he can easily optimize the position of the transport vehicle andthe loading and unloading of the transport vehicle.

It is advantageous in this context if, in the method, at least twosubset image streams are displayed on the screen simultaneously, whereeach subset image stream contains a separate subset of images from theoriginal image stream. This makes it possible to simultaneously monitornot only a single location but different locations such as, for example,the loading surface and the loading device, or the loading surface and areceptacle, in order to optimize the loading or unloading process bymeans of controlling the transport vehicle and the construction machine.

It is particularly advantageous in this regard if the camera is alignedpointing away from the construction machine. Said alignment makes itpossible, in particular when using a wide-angle lens, to observe a largework area around the construction machine. In the process, a part of theimage stream may also detect parts or boundaries of the constructionmachine in order to, in particular, avoid collisions.

A special embodiment variant specifies for the position and/or thealignment of the camera to be determined and, in the case of a change inthe position or alignment, for the image stream to be displayedaccording to the original alignment. This means that, even when thealignment of the camera is varied as a result of a pivoting operation ortrembling movement of the camera, the image-processing feature ensuresthat the screen shows an image which corresponds to a non-pivoted ornon-trembling camera.

At least one illuminant and/or at least one mirror may be specified,where the illuminant is preferably arranged at or next to the camera,and the mirror is preferably placed in the field of view of the camerain such a fashion that the observable area is enlarged.

The camera may be arranged at an unmanned aerial vehicle. The unmannedaerial vehicle may, for example, be a drone.

The registration plate of the transport vehicle may be additionallydetected.

In addition to the data recorded, further data may be transmitted to thereception and display device.

Said further data may be data relating to the milling material and/ordata determined from the data of the image-recording device by means ofan evaluation unit and/or messages from the driver of the constructionmachine to the driver of the transport vehicle, preferably start or stopsignals specified by the driver of the construction machine for thedriver of the transport vehicle. Data relating to the milling materialhave been explained in more detail above.

Messages may be sent from the driver of the transport vehicle to thedriver of the construction machine.

The use of an evaluation unit makes it possible to evaluate the datarecorded with the image-recording device.

The further data which are transmitted to the reception and displaydevice in addition to the data recorded by the image-recording devicemay be data determined by the evaluation unit, in particular, start orstop signals for the driver of the transport vehicle and/or the mass ofthe milling material loaded and/or a collision warning.

The filling level in the loading space and/or the distance between theconstruction machine and the transport vehicle and/or the point ofimpingement of material in the loading space may be determined byevaluating the image data by means of the evaluation unit.

A start or stop signal may be determined by means of the evaluation unitas a function of the point of impingement of the material in the loadingspace and/or as a function of the distance between the constructionmachine and the transport vehicle, which is transmitted to the receptionand display device.

The evaluation unit may, for example, monitor the loading of the loadingsurface of the transport vehicle and, in the case of a material conewhich exceeds a specified default, generate a signal which indicates tothe vehicle driver that he must change the position of the loadingsurface. When the evaluation unit recognizes perimeters of a transportvehicle and perimeters of the construction machine and distinguishesthem from the transport vehicle, it may indicate an imminent collisionby means of a signal in the case of too close an approach of thetransport vehicle and construction machine.

The reception and display device may be a portable computer. Any otherradio-enabled, mobile communication device is also suitable as areception and display device.

The reception and display device may be arranged inside the cockpit ofthe transport vehicle.

In order to be able to make the monitoring images available to multipleparties at low cost, it is proposed that the image stream is displayedon no less than two screens. It is advantageous for this purpose if themonitoring images are made available by a mobile application. To thiseffect, a password-secured radio connection may be set up between thecomputer comprising the screen and the image-recording device which auser can access, for example, via such application in order to receivethe monitoring image. In this arrangement, the information may bedisplayed on multiple registered devices. The individual users of theapplication may furthermore be identified, for example, by means of aunique user identity (such as the vehicle registration plate of thetransport vehicle). A scope of information adjusted to the current taskmay then be provided to each user. An adjustment may therefore be madeas to whether and in what quality an image stream is made available,and/or as to whether and to what extent further data are transmitted.

The data recorded by the image-recording device, and/or the further datawhich are transmitted to the reception and display device in addition tothe data recorded by the image-recording device, may be stored.

The storage may be effected in a first storage device which is arrangedat the construction machine, and/or effected in a second storage devicewhich is arranged at the reception and display device.

It is proposed that the image stream and/or the message stream arestored, in particular, as evidence in the case of collisions between thetransport vehicle and the construction machine. This makes it possibleto retrace, also after a collision, whether the collision was caused bythe driver of the transport vehicle or by the operator of theconstruction machine.

To prevent collisions and, for example, the overloading of transportvehicles at an early stage, however, it is proposed that a referenceimage is displayed on the screen of the compact computer and a signalgenerated in the case of a specified deviation of the image stream fromthe reference image. A signal which indicates a deviation from aspecified default may be a sound, a colour scheme or, for example, alsoa vibration of the display device. The reference image may be arepresentation of an optimized position of the transport vehicle and theconstruction machine relative to one another, for example, or a maximumloading of the loading surfaces of the transport vehicle. To this end,the monitoring image may be provided with an animated image boundarywhich can be adjusted by the user of the mobile application so that saiduser has an independent reference point in order to, for example, safelymanoeuvre towards the construction machine during each dockingprocedure.

BRIEF DESCRIPTION OF THE DRAWINGS

Taking one embodiment as an example, first the loading of a transportvehicle and then the unloading of a transport vehicle are hereinafterexplained in more detail with reference to the drawings. The followingis shown:

FIG. 1 schematically a side view of the transport vehicle andconstruction machine with image-recording device and wide-angle lens,

FIG. 2 schematically a side view according to FIG. 1 with animage-recording device with two cameras,

FIG. 3 a top view of the arrangement shown in FIG. 2 ,

FIG. 4 a side view to illustrate the first step of loading the transportvehicle,

FIG. 5 a schematic side view according to FIG. 4 with the transportvehicle driven back slightly,

FIG. 6 a schematic side view according to FIG. 5 with the transportvehicle driven back further,

FIG. 7 schematically a side view of the transport vehicle driven forwardagain,

FIG. 8 schematically a side view of a transport vehicle distanced to aconstruction machine,

FIG. 9 schematically a side view of a transport vehicle driven up to aconstruction machine,

FIG. 10 schematically a side view of a transport vehicle with tiltedloading surface,

FIG. 11 schematically a top view of the arrangement of transport vehicleand construction machine shown in FIG. 9 .

DETAILED DESCRIPTION

FIG. 1 shows the system 1 comprising construction machine 2, transportvehicle 3 with loading space 4 and image-recording device 5. Theimage-recording device 5 is arranged at the construction machine 2 andaligned, as a minimum, towards the loading space 4 of the transportvehicle 3. The construction machine 2 comprises, as conveying device 6,a belt conveyor 7 arranged to pivot at the machine frame 8 of theconstruction machine 2. The image-recording device 5 may comprise one ormultiple cameras 11 for recording data. The image-recording device 5 isarranged at the uppermost end of the belt conveyor 7 so that the cameralens 9 of the camera 11 is directed downwards in such a fashion that theviewing angle 10 detects the entire loading space 4 of the transportvehicle 3 and a part of the construction machine 2.

In the embodiment shown, the construction machine 2 is preferably amilling machine for milling a section of a ground pavement. The groundpavement is milled by means of the milling machine, and the removedmaterial or milling material, respectively, is loaded onto the transportvehicle 3 via the at least one belt conveyor 7. The milling machine maycomprise, as a minimum, a machine frame. Furthermore, the millingmachine may comprise a height-adjustable milling drum for working theground pavement. The milling drum is driven by a drive unit. The driveunit is preferably a drive motor, specifically, a combustion engine. Themilling machine comprises travelling devices 44. Said travelling devices44 may be wheels or tracked ground-engaging units. The travellingdevices 44 may be connected to the machine frame 8 via lifting columns.The milling machine or the machine frame 8, respectively, can beadjusted in height relative to the ground pavement by means of thelifting columns. The machine frame 8 is adjusted in height by adjustingthe lifting columns, and as a result, the not-depicted milling drummounted in the machine frame 8 is adjusted in height as well.Alternatively or additionally, the milling drum may be adjustable inheight relative to the machine frame 8.

A reception and display device 18 is arranged at or in the transportvehicle 3, where the data recorded by the image-recording device 5 aretransmitted to the reception and display device 18 by means of atransmission device 46 arranged at the construction machine.Alternatively, the reception and display device 18 may be designed as amobile unit and carried along, for example, by the driver of thetransport vehicle.

The image-recording device 5 may additionally detect a registrationplate, for example, the vehicle registration plate of the transportvehicle. The information concerning the registration plate may also betransmitted to the reception and display device by means of thetransmission device 46.

The transmission device 46 may transmit further data to the receptionand display device 18 in addition to the data recorded by theimage-recording device.

Said further data may be other machine information, in particular, datarelating to the milling material and/or messages from the driver of theconstruction machine 2 to the driver of the transport vehicle 3,preferably start or stop signals specified by the driver of theconstruction machine 2 for the driver of the transport vehicle 3.

The reception and display device 18 may comprise a second transmissiondevice 50, and a second reception device 51 may be arranged at theconstruction machine 2 so that messages can be sent from the driver ofthe transport vehicle 3 to the driver of the construction machine 2 viathe second transmission device 50. It is therefore possible to exchangemessages between the driver of the transport vehicle and the operator ofthe construction machine.

The second transmission device 50 and the reception and display devicemay be designed as a unit. The second reception device and thetransmission device 46 may also be designed as a unit.

The system 1 may comprise an evaluation unit 13 for evaluating the datarecorded with the image-recording device 5 by means of, for example, aunit for image analysis 14.

The evaluation unit 13 may determine the filling level in the loadingspace and/or the distance between the construction machine 2 and thetransport vehicle 3 and/or the point of impingement of material in theloading space 4 by evaluating the image data.

An imminent collision of the construction machine 2 and the transportvehicle 3 can be determined by means of the distance between theconstruction machine 2 and the transport vehicle 3.

The point of impingement of the material may be the actual point ofimpingement of the material in the loading space 4 and also, in the caseof the conveying device being switched off, the potential point ofimpingement in the loading space 4 when the belt conveyor 6 is drivenagain. To determine the potential point of impingement, furtherparameters such as, for example, the inclination of the belt conveyor 6may also be included.

It may be determined based on the actual point of impingement of thematerial in the loading space 4 whether the material is still dischargedwithin the loading space 4 and whether the point of impingement is inthe peripheral area of the loading space 4 and the transport vehicle 3therefore needs to move again soon in relation to the constructionmachine 2.

The further data which are transmitted by the transmission device 46 tothe reception and display device 18 in addition to the data recorded bythe image-recording device 5 may be data determined by the evaluationunit 13, in particular, start or stop signals for the driver of thetransport vehicle 3 and/or the mass of the milling material loadedand/or a collision warning.

The evaluation unit 13 may determine, as a function of the point ofimpingement of the material in the loading space and/or as a function ofthe distance between the construction machine 2 and the transportvehicle 3, a start or stop signal which is transmitted to the receptionand display device 18 via the transmission device 45.

The camera lens 9 is preferably a wide-angle lens of a camera 11 which,as a video camera, records an original image stream 12. The datarecorded may be forwarded to the evaluation unit 13. Alternatively oradditionally, an infrared camera and/or a stereoscopic camera and/or aPMD camera may also be used.

The camera 11 may, as a video camera, forward an original image stream12 to the evaluation unit 13 which covers information from the entireviewing angle 10. It may, however, also forward subset image streams onsubset viewing angles 16, 17 to the evaluation unit 13. Subset imagestreams from an original image stream 12 may, however, also be generatedin the evaluation unit 13, or subset image streams from the originalimage stream 12 may also only be generated in the reception and displaydevice 18 and be displayed on a screen 19 of the reception and displaydevice 18 as images 20 and 21. Subset image streams may therefore bealready generated at the image-recording device 5 by means of twocameras 22, 23, with the evaluation unit 13 or the reception and displaydevice 18. In the embodiment shown in FIG. 3 , two subset image streamsare generated in the evaluation unit 13 and transmitted by means of thetransmission device 46 in such a fashion that the information on theimages can be received by the reception and display device 18.

The camera 11 is fastened at the belt conveyor 7 of the conveying device6 in such a fashion that the alignment always points directly downwardsindependent of the angle of inclination 27 of the belt conveyor relativeto the machine frame 8 of the construction machine 2. It is thus ensuredthat the camera always records the loading surface and that section ofthe belt conveyor where the loading space 4 of the transport vehicle 3could collide with the conveying device 6.

A first storage device 52 may be arranged at the construction machine 2,and/or the reception and display device 18 may comprise a second storagedevice 53. The data recorded by the image-recording device 5, and/or thefurther data which are transmitted to the reception and display device18 in addition to the data recorded by the image-recording device 5, maybe stored in the first and/or the second storage device 52, 53.

A preferred embodiment variant specifies for the reception and displaydevice 18 to be a portable computer, preferably a mobile telephone. Amobile telephone has the advantage that the same is carried along byevery driver of a transport vehicle, and that it is therefore notnecessary to specify an own reception and display device 18 for eachtransport vehicle. An application programme may be installed on suchmobile telephone by means of which the data of the transmission devicecan be received and displayed on the screen of the mobile telephone.

When using the system for loading a transport vehicle 3 with theconstruction machine 2, first, as shown in FIG. 4 , material 28 isconveyed onto the loading surface 4 of the dumper vehicle 3 by means ofthe conveying device 6. In the process, a first heap 29 is created inthe rear section of the loading surface 4. The transport vehicle 3 isstationary, whereas the construction machine 2 keeps movingcontinuously. Since the construction machine 2 keeps driving, the pointof discharge travels to the front end of the loading surface, which isdepicted in FIGS. 5 and 6 by the heaps 30, 31. When the point ofdischarge has reached the front end of the loading surface, the vehicledriver of the transport vehicle must move the same forward relative tothe construction machine. When the point of impingement has reached therear end of the loading surface, the vehicle driver of the transportvehicle must stop the transport vehicle again. Heap 32 is again createdin the rear section of the loading surface. By means of the presentinvention, the driver of the transport vehicle receives the informationas to whether he has to move or stop the vehicle via the reception anddisplay device 18. An image of the loading space 4 is depicted on thesame so that the driver of the transport vehicle recognizes on the basisof this image alone as to when the transport vehicle 3 must be moved. Inaddition, the driver of the transport vehicle receives information fromthe operator of the construction machine or from the evaluation unit 13as to whether the transport vehicle is to be moved or not, for example,in the form of start-stop signals. He can also, for example, receive theinformation about what type of material has been loaded, whether themaximum weight has been reached and whether a collision with theconstruction machine is imminent. The coordination between the transportvehicle and the construction machine can thus be improved considerably.In addition, signalling may be effected acoustically, for example, bymeans of a horn 15.

FIG. 2 shows how both the loading space 4 and the particularly criticalsection at the conveying device 6 may be observed with the camera 11 inorder to control the proper filling of the loading surface on the onehand, and prevent a collision between the tailboard 33 and the conveyingdevice 6 on the other. In this context, the loading procedure isparticularly difficult if not only the transport vehicle 3 but also theconstruction machine 2 is movable.

In the present case, the construction machine 2 can pivot the conveyingdevice 6, and the construction machine can be moved forward and backwardin alignment of the transport vehicle 3. The proper loading of thetransport vehicle 3 therefore depends not only on the absolute positionof the transport vehicle 3 but on the relative position of the transportvehicle 3 to the conveying device 6 and to the machine frame 8 of theconstruction machine 2.

Since the camera 11 moves with the construction machine 2, the vehicledriver always obtains, via the camera, an image of the situation whichshows the transport vehicle 3 and in particular the loading surface 4 ofthe same in relation to the construction machine 2 and from thedirection of the construction machine 2 in order to move the transportvehicle 3 into the correct position relative to the construction machine2.

FIGS. 8 to 11 show the unloading of a transport vehicle 3 where theloading surface 4 is initially driven up to the construction machine 2so that the loading surface 4, as shown in FIG. 9 , is positioned infront of a receptacle. 34. The loading surface 4 is subsequently tiltedso that bulk material flows into the receptacle 34. In this arrangement,a camera 35 is positioned in the uppermost third of the constructionmachine 2 in such a fashion that it may comprise, as image-recordingdevice 36, a camera with a wide-angle lens or multiple cameras whichforward one or multiple image streams to an evaluation unit 13 as shownin FIG. 3 .

A construction machine 2 according to FIGS. 8 to 11 is preferably a roadpaver. When the road paver is loaded with material, the road paver movesslowly forward. The transport vehicle 3 approaches the road paver slowlyin reverse travel until contact has been made between the road paver andthe transport vehicle 3. The transport vehicle 3 is thereafter pushed bythe road paver ahead of the road paver, and emptying takes place.

Both the loading surface and the receptacle 34 can thus be observed bymeans of the camera also during unloading in order to, on the one hand,prevent a severe collision during the docking phase in particular in thecase of a movement of the construction machine 2 and the transportvehicle 3 and in order to, on the other hand, let the material slideinto the trough of the receptacle 34 at different speeds. This is ofadvantage in particular when the construction machine collects thematerial at different speeds.

The construction machine 2 according to FIGS. 8 to 11 also preferablycomprises an evaluation unit 13 with an image-analysing programme 14.Furthermore, a transmission device 46, reception device 51 and a storageunit 52 are preferably specified. These have the same functions asalready described for the construction machine according to FIGS. 1 to 7.

Just as the transport vehicle 3 according to FIGS. 1 to 7 , thetransport vehicle 3 may comprise a reception and display device 18 whichmay also comprise a transmission device 50 and a storage device 53. Thefunctions are the same as the functions described according to FIGS. 1to 7 .

The entire loading and unloading process also requires a communicationbetween the parties involved. For this purpose, message streams may betransmitted via the reception and display device 18 and/or the secondtransmission device 50 and the transmission and reception device 46, 51arranged on the construction machine. Furthermore, it is advantageous ifthe message streams can be stored in one or both storage devices 52, 53.

On the screen 19, at least on one image 20, 21, reference images may bedisplayed which, for example, show the optimal position of the transportvehicle 3 relative to the construction machine 2. Said optimal positionremains unchanged even when the transport vehicle 3 and the constructionmachine 2 move, since the optimal position of the transport vehicle, forexample, during docking to the construction machine 2, remains unchangedfrom the perspective of the camera arranged at the construction machine2. In the case of a strong deviation of the image 20, 21 from thedisplayed reference image, a message may be sent to the reception anddisplay device 18 or a signal generated so that, for example, the horn15 is sounded.

1-19. (canceled)
 20. A construction machine comprising: a machine frameand a conveyor arranged to pivot at the machine frame; animage-recording device aligned to provide a field of view comprising atleast a loading space of a transport vehicle, and configured to generateimage data; a computer system configured to: determine further data atleast from the image data; and transmit at least the further datadetermined from the image data to a reception and display devicearranged at or in the transport vehicle.
 21. The construction machine ofclaim 20, wherein the further data determined by the computer systemcomprises first data determined from the image data, and second datarelating to one or more of: a milling material; a location associatedwith the milling material; and operating parameters of the constructionmachine.
 22. The construction machine of claim 21, wherein the seconddata relates at least in part to material properties of the millingmaterial at corresponding locations.
 23. The construction machine ofclaim 22, wherein the second data relates at least in part to materialproperties of the milling material at one or more different layers foreach corresponding location.
 24. The construction machine of claim 21,wherein the second data relates at least in part to a detected massand/or volume of milling material loaded onto the transport vehicle. 25.The construction machine of claim 21, wherein the second data relates atleast in part to one or more detected operating parameters of themilling machine.
 26. The construction machine of claim 25, wherein theone or more operating parameters comprise one or more of: a millingdepth; a milling volume removed; an advance speed; a milling drum speedof revolution; a relation between advance speed and milling drum speedof revolution; a milling drum used; a torque/output emitted by a driveengine of the milling machine; and/or an amount of water fed during amilling process to cool milling tools of the milling drum.
 27. Theconstruction machine of claim 25, wherein the second data comprisesphysical properties of the milling material determined from the one ormore operating parameters and/or a type of milling drum and/orinformation received via a user interface.
 28. The construction machineof claim 27, wherein the physical properties of the milling material aredetermined from a relation between an advance rate of the millingmachine and a milling drum speed of revolution.
 29. The constructionmachine of claim 25, wherein the second data comprises which layer of aground pavement has been milled, wherein the layer of the groundpavement which has been milled is determined from a detected millingdepth at a respective location of the ground pavement.
 30. Theconstruction machine of claim 21, wherein the first data determined fromthe image data comprises one or more of: a filling level in the loadingspace; a distance between the construction machine and the transportvehicle; and a point of impingement of material in the loading space.31. The construction machine of claim 30, wherein the computer system isconfigured to determine, as a function of the point of impingement ofthe material in the loading space and/or as a function of the distancebetween the construction machine and the transport vehicle, a start orstop signal which is transmitted to the reception and display device viathe transmission device.
 32. The construction machine of claim 20,wherein the image-recording device is aligned towards the conveyor. 33.The construction machine of claim 20, wherein the image-recording deviceis arranged at the conveyor.
 34. The construction machine of claim 20,wherein the image-recording device comprises one or more of: a videocamera with a wide-angle lens, an infrared camera, a stereoscopiccamera, and a PMD camera.
 35. The construction machine of claim 20,wherein the computer system is further configured to determine whetherto transmit the further data, and/or to adjust a scope of the furtherdata transmitted, to the reception and display device based on a uniqueidentifier associated with the transport vehicle.
 36. The constructionmachine of claim 20, wherein the computer system is configured todetermine an original position and/or alignment of the image-recordingdevice and, pursuant to a change in the position or alignment, to directdisplay of an image stream according to the original position and/oralignment.
 37. A method for coordinating between a construction machineand a transport vehicle during loading or unloading of the transportvehicle, the method comprising: recording images with an image-recordingdevice mounted at the construction machine and aligned, as a minimum,towards a loading space of the transport vehicle; determining furtherdata at least from the image data; and transmitting, receiving, anddisplaying at least the further data determined from the image data on areception and display device arranged at or in the transport vehicle.38. The method of claim 37, wherein the further data comprises firstdata determined from the image data, and second data relating to one ormore of: a milling material; a location associated with the millingmaterial; and operating parameters of the construction machine.
 39. Themethod of claim 38, wherein the second data relates at least in part tomaterial properties of the milling material at one or more differentlayers for each of one or more corresponding locations.